Pressure sensor systems and methods for use in robotic devices
AssigneeIdealab
InventorWilliam Gross
Life of this patent
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Abstract
An optical pressure sensor useable in robotic applications. The optical pressure sensor can be included in a robotic grasping device. The pressure sensor includes a sensor structure having an interior wall and indicia. The indicia, apparent by viewing the interior wall, appearance change in response to pressure on the structure. An image sensor is positioned to view at least a portion of the interior wall, wherein the image sensor is configured to provide images of the indicia as the sensor structure is subject to pressure.
Claims25
A robotic grasping device pressure sensor, comprising:
- a structure, at least a portion of which is transparent;
- a base material overlaying at least a portion of the transparent portion of the structure;
- compressible protrusions extending from the base material to the structure, wherein the protrusions compress in response to pressure exerted on the base material;
- and
- an optical image sensor positioned to view at least a portion of the compressible protrusions from within the structure, wherein the optical image sensor is configured to capture images of the compressible protrusions as they compress, and to provide image information to a processor that extracts pressure information from the images.
A robot grasping device, comprising:
- a first grasping structure, including:
- a sensor structure having an interior wall;
- indicia, apparent by viewing the interior wall, whose appearance change in response to pressure;
- an image sensor positioned to view at least a portion of the interior wall, wherein the image sensor is configured to provide images of the indicia as at least a portion of the sensor structure is subject to pressure;
- and
- a second grasping structure positioned to grasp an object in cooperation with the first grasping structure.
A method of determining the pressure on a robot pressure sensor, the method comprising:
- obtaining image data of pressure indicia on the robot pressure sensor;
- comparing the image data with reference image data;
- and
- determining a degree of pressure based at least in part on the comparison.
An apparatus for measuring pressure on a robot component, comprising:
- a polarized light source;
- a structure having a mirrored surface positioned to receive light from the polarized light source;
- and
- an image sensor having a polarized filter, the image sensor positioned to view the mirrored surface, wherein pressure patterns within the structure are rendered visible under optical polarization.
Dependencies are inferred from the claim text.